变负载柔性悬臂梁的多模型混合自适应振动主动控制  

Multiple model hybrid adaptive vibration control for flexible cantilever beam with varying load

作　　者：高志远[1] 朱晓锦[1] 张合生[1] 苗中华[1] Zhiyuan GAO;Xiaojin ZHU;Hesheng ZHANG;Zhonghua MIAO(School of Mechatronic Engineering and Automation,Shanghai University,Shanghai 200444,China)

机构地区：[1]上海大学机电工程与自动化学院,上海200444

出　　处：《中国科学：信息科学》2020年第5期734-742,共9页Scientia Sinica(Informationis)

基　　金：国家自然科学基金(批准号:51575328,61503232)资助项目。

摘　　要：面向末端具有可变负载的压电柔性悬臂梁振动主动控制,本文提出了一种基于改进多模型切换性能指标函数的多模型混合自适应振动主动控制方法.通过引入包含次级通道与结构正反馈通道的预滤波器,消除了抑振作动器与参考传感器之间的结构振动正反馈对振动主动控制的负面影响.通过构建以压电智能柔性悬臂梁为受控对象的MATLAB xPC实时验证平台,针对单频扰动、双频窄带扰动以及宽带扰动,开展了实时实验对比验证.相关实验结果表明:本文所提出的多模型混合自适应振动主动控制方法是可行的,能够显著改善负载变化情况下的振动抑制效果,且收敛速度较快.To solve the vibration suppression problem for a piezoelectric flexible cantilever beam with varying load,this study proposes a new type of multiple model hybrid adaptive vibration control method with a new multiple model switching cost index function.It employs a pre-filter consisting of secondary path and positive feedback path model to eliminate the positive feedback between the secondary actuator and reference sensor.By constructing a piezoelectric flexible cantilever beam as the controlled plant,we constructed a real-time control verification experiment platform based on a real-time MATLAB xPC target.We did a real-time control experiment comparison for vibration suppression of single-frequency,narrowband,and broadband disturbances.Experimental results show that the proposed multiple model hybrid adaptive vibration control algorithm is feasible and has good vibration suppression performance with rapid convergence speed.

关 键 词：多模型自适应控制 切换控制 振动主动控制 压电悬臂梁 可变负载 实时控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TP241[自动化与计算机技术—控制科学与工程]